package es.uji.icc.robot.fanuc;


public class RobotToolLocation {
	
	protected PointXYZ location;
	protected PointXYZ orientation;
	
	public RobotToolLocation(Long x, Long y, Long z, Long w, Long p, Long r){
	   location=new PointXYZ(x,y,z);
	   orientation=new PointXYZ(w,p,r);
	}
	
	public RobotToolLocation(int x, int y, int z, int w, int p, int r){
		   location=new PointXYZ(Long.valueOf(x),Long.valueOf(y),Long.valueOf(z));
		   orientation=new PointXYZ(Long.valueOf(w),Long.valueOf(p),Long.valueOf(r));
		}
	
	public RobotToolLocation() {
		}

	public RobotToolLocation(PointXYZ locationxyz, PointXYZ orientationxyz) {
		location = locationxyz;
		orientation=orientationxyz;
	}

	public RobotToolLocation(RobotPosition pos) {
		location = new PointXYZ();
		location.setX(pos.getX());
		location.setY(pos.getY());
		location.setZ(pos.getZ());
		orientation = new PointXYZ();
		orientation.setX(pos.getW());
		orientation.setY(pos.getP());
		orientation.setZ(pos.getR());
			
	}

	public PointXYZ getLocation() {
		return location;
	}
	public void setLocation(PointXYZ location) {
		this.location = location;
	}
	public PointXYZ getOrientation() {
		return orientation;
	}
	public void setOrientation(PointXYZ orientation) {
		this.orientation = orientation;
	}

	
}					
